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Preparation

Cupcakes:
Preheat oven to 350 degrees F. In a bowl, combine flour, baking soda and salt, stirring to mix. Set aside. Line a cupcake tin with liners.
In a large bowl, whisk brown sugar and egg until smooth. Add in vanilla extract and milk, again mixing until combined. Slowly pour in melted butter, continuing to whisk. Add in the flour, soda and salt, mixing with a large spoon until batter is smooth.
Using a 1/4 cup measure, add batter to liners. Bake for 16-19 minutes, or until tops are puffy and golden, and don't jiggle when touched. Let cool completely.
Frosting:
Add cream cheese to the bowl of an electric mixer. Beat until smooth, then add peanut butter and vanilla extract, mixing until combined. Add in brown and powdered sugars gradually, with the mixture on low speed. Once everything has been added, turn to medium-high speed and mix for 4-5 minutes, occasionally scraping down the sides. If you'd like the frosting a bit sturdier, add additional powdered sugar 1/4 cup at a time, mixing like before. Frost cupcakes!